Studying how the development of children diagnosed with Autism Spectrum Disorder occurs, in spaces that are not only the school, makes us think about how they build their social interactions and also how they can exercise their fundamental rights and freedoms as a subject with disabilities, aiming at their social inclusion and citizenship. Thus, the objective of this study was to investigate the participation of children with Autism Spectrum Disorder (ASD) in urban spaces, as a relevant factor for their cognitive, social and emotional development. A qualitative study was carried out that involved the analysis of the speech of 16 caregivers of a Neurorehabilitation clinic, located in Rio de Janeiro. The results revealed that interactions between parents/caregivers and autistic children, when they are mutual and collaborative, together with egalitarian parenting strategies, are favorable and capable of leading the child to think about their attitudes, therefore, they can encourage prosocial behavior. of child. The study concluded that the interaction and coexistence between parents/caregivers and the autistic child in other spaces, other than the school, proved to be important, but that there are still many obstacles and limitations imposed in relation to ASD, in terms of concerns its potentialities, resistances and prejudices. However, despite the challenges, the initiatives and dedication represent a huge step towards finding ways for these children to appropriate knowledge and possibly develop their skills.